U.S. patent number 8,409,175 [Application Number 12/387,717] was granted by the patent office on 2013-04-02 for surgical instrument guide device.
The grantee listed for this patent is Andres Chamorro, Woojin Lee. Invention is credited to Andres Chamorro, Woojin Lee.
United States Patent |
8,409,175 |
Lee , et al. |
April 2, 2013 |
Surgical instrument guide device
Abstract
An instrument guide device comprises an elongated guide shaft
having proximal and distal ends and including an instrument lumen
for receiving therethrough a manually operated instrument having an
instrument shaft. A distal bendable member is disposed at the
distal end of the guide shaft and a proximal bendable member is
disposed at the proximal end of the guide shaft. Actuation means
extends between the distal and proximal bendable members and
provides a bending of the distal bendable member controlled from
the proximal bendable member. The proximal bendable member is
controlled from the manually operated instrument to cause a
corresponding bending of said distal bendable member. A locking
mechanism has locked and unlocked positions and includes a ball and
socket arrangement disposed about the proximal bendable member and
a cinch member for locking the ball and socket arrangement.
Inventors: |
Lee; Woojin (Hopkinton, MA),
Chamorro; Andres (Waltham, MA) |
Applicant: |
Name |
City |
State |
Country |
Type |
Lee; Woojin
Chamorro; Andres |
Hopkinton
Waltham |
MA
MA |
US
US |
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Family
ID: |
43050674 |
Appl.
No.: |
12/387,717 |
Filed: |
May 6, 2009 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20090299344 A1 |
Dec 3, 2009 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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11242642 |
Oct 3, 2005 |
7842028 |
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60700776 |
Jul 20, 2005 |
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Current U.S.
Class: |
606/1; 600/146;
600/141; 600/142; 600/149; 600/114; 600/137 |
Current CPC
Class: |
A61B
1/0052 (20130101); A61B 17/3421 (20130101); A61B
17/062 (20130101); A61B 1/00133 (20130101); A61B
17/2909 (20130101); A61B 1/0057 (20130101); A61B
2017/00477 (20130101); A61B 2017/003 (20130101); A61B
2017/2905 (20130101); A61B 1/00154 (20130101); A61B
17/3403 (20130101); A61B 2017/291 (20130101); A61B
17/068 (20130101); A61B 2017/2906 (20130101); A61B
2017/3445 (20130101); A61B 17/3417 (20130101); A61B
2017/2927 (20130101); A61B 17/1285 (20130101); A61B
2017/2929 (20130101) |
Current International
Class: |
A61B
1/01 (20060101) |
Field of
Search: |
;600/114,137,141,142,146,149 ;606/1 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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0 095 970 |
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Dec 1983 |
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EP |
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0 448 284 |
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Sep 1991 |
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EP |
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0 626 604 |
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May 1994 |
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EP |
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0 427 949 |
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Jun 1994 |
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EP |
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2 143 920 |
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Feb 1985 |
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GB |
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WO 90/05491 |
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May 1990 |
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WO |
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WO 92/01414 |
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Feb 1992 |
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WO |
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WO 94/17965 |
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Aug 1994 |
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WO |
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Other References
Nakamura et al., Multi-DOF Forceps Manipulator System for
Laparoscopic Surgery--Mechanism Miniaturized & Evaluation of
New Enterfaces, 5 pgs. Oct. 14-17, 2001. cited by applicant .
Ryoichi Nakamura et al., Multi-DOF Manipulator System for
Laparoscopic Surgery, 8 pgs. Oct. 3, 2004. cited by applicant .
Ryoichi Nakamura et al., Development of Forceps Manipulator System
for Laparoscopic Surgery, 6 pgs. cited by applicant .
Hiromasa Yamashita et al., "Multi-Slider Linkage Mechanism for
Endoscopic Forceps Manipulator," In Proc. of the 2003 IEEE/RSJ,
Intl. Conference on Intelligent Robots and Systems, vol. 3, pp.
2577-2582, Las Vegas, Nevada, Oct. 2003. cited by
applicant.
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Primary Examiner: Roane; Aaron
Parent Case Text
RELATED APPLICATIONS
The present application is a continuation-in-part of U.S.
application Ser. No. 11/242,642 filed Oct. 3, 2005 now U.S. Pat.
No. 7,842,028, which, in turn, claims priority to earlier filed
U.S. Provisional Application 60/700,776, filed on Jul. 20, 2005.
The present invention also relates to earlier filed U.S.
application Ser. No. 10/822,081, filed on Apr. 12, 2004 which, in
turn, claims priority to U.S. Provisional Application Ser. No.
60/515,560, filed on Oct. 30, 2003, as well as U.S. application
Ser. No. 11/185,911, filed on Jul. 20, 2005 which, in turn, claims
priority to U.S. Provisional Application Ser. No. 60/671,189, filed
on Apr. 14, 2005. The content of all of the aforementioned
applications are hereby incorporated by reference herein in their
entirety.
Claims
What is claimed is:
1. A guide device for controlling a manually operated medical
instrument that includes at least a handle, instrument shaft and
distal tool, said guide device comprising: an elongated guide shaft
having proximal and distal ends and including an instrument lumen
for receiving therethrough the manually operated medical
instrument; a distal bendable member disposed at the distal end of
the elongated guide shaft; a proximal bendable member disposed at
the proximal end of the elongated guide shaft; actuation means
extending between said distal and proximal bendable members and
providing a bending of said distal bendable member controlled from
said proximal bendable member; said proximal bendable member being
controlled from said manually operated medical instrument to cause
a corresponding bending of said distal bendable member and control
of said distal tool; and a locking mechanism for fixing the
position of the distal tool at a selected position and having
locked and unlocked states; said locking mechanism including a ball
and socket arrangement disposed about said proximal motion member
and a cinch member for locking said ball and socket
arrangement.
2. The guide device of claim 1 wherein said actuation means is
constructed and arranged so that a bending of the proximal bendable
member causes a like direction bending of the distal bendable
member.
3. The guide device of claim 1 wherein said actuation means is
constructed and arranged so that a bending of the proximal bendable
member causes an opposite direction bending of the distal bendable
member.
4. The guide device of claim 1 wherein said proximal bendable
member is moveable in any direction.
5. The guide device of claim 1 including a grip disposed between
said proximal bendable member and the handle of said manually
operated medical instrument and constructed and arranged to have a
passage through which the manually operated medical instrument
shaft extends.
6. The guide device of claim 5 wherein said grip is formed as two
pieces including a grip portion and a rotation knob and said grip
and knob portions are supported for relative rotation
therebetween.
7. The guide device of claim 5 including means or securing the
manually operated medical instrument handle to the grip
portion.
8. The guide device of claim 1 wherein said bendable members each
comprise a unitary slotted structure having a plurality of discs
separated by slots.
9. The guide device of claim 1 wherein the ball and socket
arrangement comprises a grip portion and a ball member having a
partially spherical portion that mates with a concave socket in the
grip portion.
10. The guide device of claim 9 wherein said grip portion has the
socket formed therein and said cinch member includes an annular
cinch ring that is disposed about said grip portion.
11. The guide device of claim 10 including a tongue and groove
interconnection between said cinch ring and grip portion so as to
permit rotation therebetween while preventing axial movement.
12. The guide device of claim 11 including a locking lever on said
cinch ring having opposed locked and unlocked positions.
13. The guide device of claim 12 wherein said grip portion includes
a split hub that is compressable by the cinch ring as the cinch
ring is locked via the locking lever.
14. The guide device of claim 1 wherein said guide device is
rotational relative to the manually operated medical
instrument.
15. The guide device of claim 1 wherein said manually operated
medical instrument is slideable linearly relative to said guide
device.
16. A guide device for controlling a manual instrument that has a
handle instrument shaft and distal tool, comprising, a proximal
control handle, a guide shaft and proximal and distal bendable
members that respectively intercouple said proximal and distal
bendable members, cable actuation means disposed between said
bendable members, for controlling the positioning of said distal
tool, and a locking mechanism having locked and unlocked positions,
said locking mechanism including a ball and socket arrangement
disposed about said proximal motion member and a cinch member for
locking said ball and socket arrangement.
17. The guide device of claim 16 wherein said locking mechanism
comprises a ball member and a compressible hub that defines a
socket member.
18. The guide device of claim 17 wherein said hub is a split hub
and said locking mechanism further includes a cinch ring disposed
about said split hub and a locking lever mounted on said cinch ring
for closing said cinch ring about said hub to lock said hub against
said ball member.
19. The guide device of claim 18 wherein said cinch ring interlocks
with said hub but is able to rotate relative thereto when in the
unlocked position.
20. The guide device of claim 16 including a hub and a rotation
knob supported by said hub.
Description
TECHNICAL FIELD
The present invention relates in general to surgical instruments,
and more particularly to manually-operated surgical instruments
that are intended for use in minimally invasive surgery or other
forms of surgical procedures or techniques. Even more particularly
the present invention relates to a guide apparatus for a medical
instrument. The instrument described herein may be used for
laparoscopic procedures, however, it is to be understood that the
instrument and guide of the present invention can be used for a
wide variety of other procedures, including intraluminal
procedures.
BACKGROUND OF THE INVENTION
Endoscopic and laparoscopic instruments currently available in the
market are extremely difficult to learn to operate and use, mainly
due to a lack of dexterity in their use. For instance, when using a
typical laparoscopic instrument during surgery, the orientation of
the tool of the instrument is solely dictated by the locations of
the target and the incision. These instruments generally function
with a fulcrum effect using the patient's own incision area as the
fulcrum. As a result, common tasks such as suturing, knotting and
fine dissection have become challenging to master. Various
laparoscopic instruments have been developed over the years to
overcome this deficiency, usually by providing an extra
articulation often controlled by a separately disposed control
member for added control. However, even so these instruments still
do not provide enough dexterity to allow the surgeon to perform
common tasks such as suturing, particularly at any arbitrarily
selected orientation.
The above identified related earlier filed applications describe an
improved instrument employing bendable section on the instrument
itself.
An object of the present invention is to provide a guide device or
apparatus that can be used with either conventional or the above
identified instruments for laparoscopic, endoscopic or other
surgical procedures and that allows the surgeon to readily
manipulate the tool or working end of the surgical instrument with
greater dexterity.
Another object of the present invention is to provide an improved
surgical instrument and guide that has a wide variety of
applications, including, but not limited to, through incisions,
through natural body orifices or extending intraluminally.
Still another object of the present invention is to provide and
improved surgical instrument and associated guide wherein the guide
has a locking feature to keep the instrument in a selected
position.
SUMMARY OF THE INVENTION
To accomplish the foregoing and other objects, features and
advantages of this invention, there is provided an instrument guide
device that is comprised of an elongated guide shaft having
proximal and distal ends and including an instrument lumen for
receiving therethrough a manually operated instrument having an
instrument shaft and handle. A distal bendable member is disposed
at the distal end of the guide shaft and a proximal bendable member
id disposed at the proximal end of the guide shaft. Actuation means
extends between the distal and proximal bendable members for
providing a bending of the distal bendable member controlled from
the proximal bendable member. The proximal bendable member is
controlled from the manually operated instrument to cause a
corresponding bending of the distal bendable member.
In accordance with other aspects of the present invention there is
provided an instrument guide device wherein the actuation means is
constructed and arranged so that a bending of the proximal bendable
member causes a like direction bending of the distal bendable
member, or, alternatively, the actuation means is constructed and
arranged so that a bending of the proximal bendable member causes
an opposite direction bending of the distal bendable member. The
proximal bendable member is preferably moveable in any direction. A
grip may be disposed between the proximal bendable member and the
handle of the instrument and constructed and arranged to have a
passage through which the instrument shaft extends. The grip may be
formed as two pieces including a grip portion and a rotation knob
and the grip and knob portions are supported for relative rotation
therebetween. Means may be provided for securing the instrument
handle to the grip. The bendable members may each comprise a
unitary slotted structure having a plurality of discs separated by
slots. The guide shaft may be rigid, flexible or partially
flexible. The instrument guide device may include a plurality of
proximal bendable members and a plurality of distal bendable
members. The actuation means may comprise a plurality of cables
that interconnect proximal and distal bendable members. The guide
shaft may have at least two lumens for respectively accommodating
separate instrument shafts. The instrument that is inserted in the
guide device may have instrument proximal and distal bendable
members.
In an other embodiment of the present invention there is provided a
surgical instrument assembly that comprises an elongated instrument
shaft having proximal and distal ends, a working member coupled
from the distal end of the instrument shaft, a control handle
disposed at the proximal end of the instrument shaft and a guide
member for receiving the instrument shaft. The guide member
includes a guide shaft, a distal motion means at the distal end of
the guide shaft, a proximal motion means at the proximal end of the
guide shaft and actuation means extending between the distal and
proximal motion means. The working member extends beyond a distal
end of the guide shaft at an operative site. Any deflection of the
proximal motion means causes a corresponding deflection of the
distal motion means for control of the working member.
In accordance with still other aspects of the present invention
there is provided a surgical instrument assembly in which the
distal motion means comprises a distal bendable member and the
proximal motion means comprises a proximal bendable member that is
moveable in any direction. A grip may be disposed between the
proximal bendable member and the handle of the instrument and
constructed and arranged to have a passage through which the
instrument shaft extends. The grip may be formed as two pieces
including a grip portion and a rotation knob and the grip and knob
portions are supported for relative rotation therebetween. The
proximal bendable member may comprise a unitary slotted structure
having a plurality of discs separated by slots and further
including a plurality of ribs interconnecting adjacent discs, the
ribs being disposed at intervals about the member of less than 90
degrees.
In a further embodiment of the present invention there is provided
a surgical instrument that is comprised of an elongated instrument
shaft having proximal and distal ends, a working member disposed at
the distal end of the instrument shaft and a control handle
disposed at the proximal end of the instrument shaft. The working
member is coupled to the distal end of the elongated instrument
shaft via a distal motion member. The control handle is coupled to
the proximal end of the elongated instrument shaft via a proximal
bendable member. Actuation means extends between the distal and
proximal members whereby any deflection of the control handle with
respect to the elongated instrument shaft causes a corresponding
bending of the distal motion member for control of the working
member. At least the proximal bendable member comprises a unitary
slotted structure having a plurality of discs separated by
slots.
In accordance with still other aspects of the present invention
there is provided an instrument guide device in which the distal
motion member also comprises a bendable member formed as a unitary
slotted structure having a plurality of discs separated by slots.
The proximal bendable member may include a plurality of ribs
interconnecting adjacent discs, the ribs being disposed at
intervals about the member of less than 90 degrees. The ribs may be
disposed at an interval on the order of 60 degrees.
In accordance with a locking feature there is provided a guide
device for controlling a manually operated medical instrument that
includes at least a handle, instrument shaft and distal tool. The
guide device comprises; an elongated guide shaft having proximal
and distal ends and including an instrument lumen for receiving
therethrough the manually operated medical instrument; a distal
bendable member disposed at the distal end of the elongated guide
shaft; a proximal bendable member disposed at the proximal end of
the elongated guide shaft; and actuation means extending between
the distal and proximal bendable members and providing a bending of
the distal bendable member controlled from the proximal bendable
member. The proximal bendable member is controlled from the
manually operated medical instrument to cause a corresponding
bending of the distal bendable member and control of the distal
tool. A locking mechanism fixes the position of the distal tool at
a selected position and having locked and unlocked states. The
locking mechanism includes a ball and socket arrangement disposed
about said proximal motion member and a cinch member for locking
the ball and socket arrangement.
In accordance with other aspects of this embodiment the actuation
means may be constructed and arranged so that a bending of the
proximal bendable member causes a like direction or opposite
direction bending of the distal bendable member; the proximal
bendable member is moveable in any direction; a grip is disposed
between the proximal bendable member and the handle of the manually
operated medical instrument and constructed and arranged to have a
passage through which the manually operated medical instrument
shaft extends; the grip may be formed as one or two two pieces
including a grip portion and a rotation knob and the grip and knob
portions are supported for relative rotation therebetween; means
may be provided for securing the manually operated medical
instrument handle to the grip portion; the ball and socket
arrangement comprises a grip portion and a ball member having a
partially spherical portion that mates with a concave socket in the
grip portion; the grip portion has the socket formed therein and
the cinch member includes an annular cinch ring that is disposed
about the grip portion; a locking lever is provided on the cinch
ring having opposed locked and unlocked positions; the grip portion
may include a split hub that is compressable by the cinch ring as
the cinch ring is locked via the locking lever; the guide device
may be rotational relative to the manually operated medical
instrument; or the manually operated medical instrument may be
slideable linearly relative to the guide device.
In accordance with a further embodiment of the invention there is
provided a guide device for controlling a manual instrument that
has a handle instrument shaft and distal tool, comprising, a
proximal control handle, a guide shaft and proximal and distal
bendable members that respectively intercouple the proximal and
distal bendable members, cable actuation means disposed between the
bendable members, for controlling the positioning of the distal
tool, and a locking mechanism having locked and unlocked positions
with the locking mechanism including a ball and socket arrangement
disposed about the proximal motion member and a cinch member for
locking the ball and socket arrangement. The locking mechanism may
comprise a ball member and a compressible hub that defines a socket
member. The hub is preferably a split hub and the locking mechanism
further includes a cinch ring disposed about the split hub and a
locking lever mounted on said cinch ring for closing said cinch
ring about said hub to lock the hub against said ball member. The
cinch ring preferably interlocks with the hub but is able to rotate
relative thereto when in the unlocked position. A rotation knob may
be supported by the hub.
DESCRIPTION OF THE DRAWINGS
It should be understood that the drawings are provided for the
purpose of illustration only and are not intended to define the
limits of the disclosure. The foregoing and other objects and
advantages of the embodiments described herein will become apparent
with reference to the following detailed description when taken in
conjunction with the accompanying drawings, in which:
FIG. 1 is an exploded side view of a first embodiment of a surgical
instrument and guide device using a rigid guide tube shaft;
FIG. 2 is a view of the proximal end of the guide device of FIG. 1,
as taken along line 2-2 of FIG. 1;
FIG. 3 is a schematic side view of the instrument and guide
assembly in use as inserted through a patient's skin at an
incision;
FIG. 4 is a fragmentary enlarged cross-sectional side view of the
assembly of FIG. 3;
FIG. 5 is a cross-sectional view of the proximal bendable member,
as taken along line 5-5 of FIG. 4;
FIG. 6 is an exploded perspective view of the guide apparatus or
device illustrated in FIGS. 1-5;
FIG. 7 is a schematic cross-sectional side view illustrating the
bending action of the assembly of FIG. 4;
FIG. 8 is a schematic cross-sectional side view illustrating an
alternate bending action;
FIG. 9 is a fragmentary cross-sectional side view similar to that
shown in FIG. 4, but illustrating a second embodiment of the guide
assembly having an added rotational feature;
FIG. 10 is a schematic side view of the guide assembly of FIG. 9 in
use with the jaw end effector of FIG. 1;
FIG. 11 is a schematic side view of a third embodiment of the guide
assembly or device employing a flexible main shaft on the guide
device;
FIG. 12 is an exploded side view of a fourth embodiment of the
guide device used with a second embodiment of a surgical
instrument;
FIG. 13 is a view of the proximal end of the guide device of FIG.
12, as taken along line 13-13 of FIG. 12;
FIG. 14 is a schematic side view of the instrument and guide
assembly of FIG. 12 in use;
FIG. 15 is an exploded side view of a fifth embodiment of the guide
device with a third embodiment of the surgical instrument;
FIG. 16 is a view of the proximal end of the guide device of FIG.
15, as taken along line 16-16 of FIG. 15;
FIG. 17 is a schematic side view of the instrument and guide
assembly of FIG. 15 in use as inserted through a patient's skin at
an incision;
FIG. 18 is an exploded side view of a sixth embodiment of the guide
device and a fourth embodiment of the surgical instrument;
FIG. 19 is a schematic side view of the instrument and guide
assembly of FIG. 18 in use as inserted through a patient's skin at
an incision;
FIG. 20 is an exploded side view of the fifth embodiment of the
guide device as used with a fifth embodiment of the surgical
instrument;
FIG. 21 is a schematic side view of the instrument and guide
assembly of FIG. 20 in use as inserted through a patient's skin at
an incision;
FIG. 22 is an exploded side view of the sixth embodiment of the
guide device as used with a sixth embodiment of the surgical
instrument;
FIG. 23 is a schematic side view of the instrument and guide
assembly of FIG. 22 in use as inserted through a patient's skin at
an incision;
FIG. 24 is a perspective view of another embodiment of the guide
device useable with two or more instruments;
FIG. 25 is a side view of still another embodiment of the invention
using multiple bendable members both proximally and distally on the
guide member;
FIG. 26 is an exploded side view of another embodiment of the
manual instrument and guide member and including a locking
feature;
FIG. 27 is a schematic side view of the instrument of FIG. 26 and
in use;
FIG. 28 is an end view as seen along line 28-28 of FIG. 26;
FIG. 29 is a partially exploded perspective view of the manually
operated instrument being inserted into the guide member;
FIG. 30 is a cross-sectional side view of the angle locking means
shown in FIGS. 26-29;
FIG. 31 is a cross-sectional side view like that shown in FIG. 30,
but with the angle locking means engaged;
FIG. 32 is an exploded side view of still another embodiment of the
manual instrument and guide member and including a locking
feature;
FIG. 33 is a schematic side view of the instrument of FIG. 32 and
in use;
FIG. 34 is a partially exploded perspective view of the manually
operated instrument being inserted into the guide member;
FIG. 35 is a cross-sectional side view of the angle locking means
shown in FIGS. 32-34;
FIG. 36 is a cross-sectional side view like that shown in FIG. 35,
but with the angle locking means engaged;
FIG. 37 is an exploded side view of still another embodiment of the
manual instrument and guide member and including a locking
feature;
FIG. 38 is a schematic side view of the instrument of FIG. 37 and
in use;
FIG. 39 is a partially exploded perspective view of the manually
operated instrument being inserted into the guide member;
FIG. 40 is an exploded side view of a further embodiment of the
manual instrument and guide member and including a locking
feature;
FIG. 41 is a schematic side view of the instrument of FIG. 40 and
in use; and
FIG. 42 is a partially exploded perspective view of the manually
operated instrument being inserted into the guide member.
DETAILED DESCRIPTION
The instrument and guide member of the present invention may be
used to perform minimally invasive procedures or virtually any
other types of surgical or medical procedures. "Minimally invasive
procedure" refers herein to a surgical procedure in which a surgeon
operates through a small cut or incision, the small incision being
used to access the operative site. In one embodiment, the incision
length ranges from 1 mm to 20 mm in diameter, preferably from 5 mm
to 10 mm in diameter. This procedure contrasts those procedures
requiring a large cut to access the operative site. Thus, the
instrument assembly is preferably used for insertion through such
small incisions and/or through a natural body lumen or cavity, so
as to locate the instrument at an internal target site for a
particular surgical or medical procedure. The introduction of the
surgical instrument assembly into the anatomy may also be by
percutaneous or surgical access to a lumen or vessel, or by
introduction through a natural orifice in the anatomy. Also, even
though the instrument assembly is preferably used for MIS surgery
it can also be used for open surgery or any other surgical or
medical procedures.
In addition to use in a laparoscopic procedure, the instrument and
guide of the present invention may be used in a variety of other
medical or surgical procedures including, but not limited to,
colonoscopic, upper GI, arthroscopic, sinus, thorasic, transvaginal
and cardiac procedures. Depending upon the particular procedure,
the instrument shaft may be rigid, semi-rigid or flexible.
Although reference is made herein to a surgical instrument and
guide, it is contemplated that the principles of this invention
also apply to other medical instruments, not necessarily for
surgery, and including, but not limited to, such other implements
as catheters, endoscopes, optics, as well as diagnostic and
therapeutic instruments and implements.
Still another aspect of the surgical guide instrument of the
present invention is the ability to adapt the instrument and guide
to a wide variety of medical procedure. This includes, but is not
limited to, access to a body cavity such as through an incision or
intraluminal use such as through a natural body aperture to a body
lumen. The introduction of the instrument into the anatomy may also
be by percutaneous or surgical access to a lumen, cavity or vessel,
or by introduction through a natural orifice in the anatomy.
The concepts of the present invention relate to the use of a
manually controllable guide member or device through which either a
conventional instrument shaft may be inserted or through which a
novel instrument may be inserted, such as the novel instrument
described in my previously identified related pending applications.
With the use of the guide member of the present invention, the user
can insert the instrument shaft through the guide member and then
use the bendable members of the guide member to control the
manipulation of the instrument. Thus, by deflecting the instrument,
once positioned in the guide member, this causes a deflection or
bending at the proximal bendable member that is transferred to the
distal bendable member (usually by cabling) to control the
positioning of the distal tool. This bending control at the guide
member is preferably in all directions.
It should be noted that the amount of guide member bending motion
produced at the distal bending member is determined by the
dimension of the proximal bendable member in comparison to that of
the distal bendable member. In the disclosed embodiment the
proximal bendable member may be approximately three times the
diameter of the distal bendable member, and as a result, the motion
produced at the distal bendable member is about three times the
magnitude of the motion at the proximal bendable member. Although
FIG. 3 shows only the side view where only pitch motion is
illustrated, it should be noted that the proximal bendable member
can be bent in any and all directions controlling the distal
bendable member to bend in either the same or an opposite
direction, but in the same plane. As a result, as depicted in FIG.
3 the surgeon is able to roll the instrument tool about its
longitudinal axis at any orientation simply by a rolling action at
the proximal bendable member, controlled primarily by manipulation
of the handle of the inserted instrument bearing against the guide
member.
In this description reference is made to bendable members. These
members may also be referred to as turnable members or flexible
members. In the descriptions set out herein, terms such as bendable
section, bendable segment, bendable motion member, or turnable
member refer to an element of the guide instrument that is
controllably bendable in comparison to an element that is pivoted
at a joint. The bendable elements of the present invention enable
bending in any direction without any singularity and that is
further characterized by a ready capability to bend in any
direction, all with a single unitary or uni-body structure. A
definition of these bendable motion members is--a guide element,
formed either as a controlling means or a controlled means, and
that is capable of being constrained by tension or compression
forces to deviate from a straight line to a curved configuration
without any sharp breaks or angularity.
The first embodiment is described in FIGS. 1-6. The guide member or
instrument 10 has a proximal bendable member 20 and distal bendable
member 22 and receives the instrument 12 such as depicted in FIG. 3
in the inserted position of the instrument 12, depicted as the
assembled instrument system 14. The instrument 12 may be
conventional and is secured in the guide member 10 so that motions
at the instrument handle 40 are essentially transferred through the
guide member 10 to control the positioning of the end effector. In
other words a deflection of the handle 40 causes a bending of the
proximal bendable member 20 (as in FIG. 3) which, in turn, bends
the distal bendable member 22 to control the placement of the tool
or end effector. This first embodiment also includes a grip 16 that
provides the interface between the handle 40 and the proximal
bendable member 20. The grip 16, in this particular embodiment, is
one-piece so the only rotation of the instrument is by rotating the
entire instrument and guide member. The instrument 12 is locked to
the guide member 10 so there is no linear motion of the instrument
relative to the guide member.
Referring to FIG. 1, the surgical instrument 12 may be considered
as of conventional design and is comprised of a handle 40 at the
proximal end of the instrument, an elongated flexible instrument
shaft 36 and a tool or end effector 38 disposed at the distal end
of the surgical instrument 12. In the disclosed embodiment the
instrument shaft 36 is preferably constructed so as to be at least
partially flexible or bendable so as to sufficiently bend with the
bending of the bendable members of the guide member 10. The tool 38
is illustrated as including a fixed jaw 54 and a moveable jaw 52.
The tool 38 is actuated by means of an actuation cable 50 that
extends through the instrument shaft 36 and is controlled from the
slider 46 and return spring 48. A lever 42 operates the slider 46
through the linkage or transfer bar 44. The closure of the lever 42
pulls the cable 50 to close the jaws 52, 54.
In the drawings a set of jaws is depicted, however, other tools or
devices may be readily adapted for use with the instrument of the
present invention. These include, but are not limited to, cameras,
detectors, optics, scope, fluid delivery devices, syringes, etc.
The tool may include a variety of articulated tools such as jaws,
scissors, graspers, needle holders, micro dissectors, staple
appliers, tackers, suction irrigation tools and clip appliers. In
addition, the tool may include a non-articulated tool such as a
cutting blade, probe, irrigator, catheter or suction orifice.
In FIGS. 1-6, the guide member or guide instrument 10 is depicted
separately from the surgical instrument 12 as in FIG. 1. In FIG. 3,
there is shown the assembled system 14 with the instrument having
been inserted into and through the guide member 10. In FIG. 3 note
that the guide member shaft 18 extends through the cannula 8 at the
insertion site 6 of the patient's skin 4. The end effector or tool
38 is disclosed in FIG. 3 as extending from the distal bendable
member 22. FIG. 3 also shows a protective sheath 24 that may extend
about the distal flex member 22.
The guide member 10, in addition to including the guide shaft 18,
also includes the proximal flexible or bendable member 20 and the
distal flexable or bendable member 22. An adaptor cover 26 is
disposed about a portion of the proximal bendable member 20. The
adaptor cover 26 includes a funnel or conical-shaped portion 96
(see FIG. 6) for receiving ends of the proximal bendable member 20
and the guide shaft 18. The grip 16 of the guide member 10 receives
the other end of the proximal bendable member 20. The grip 16 is
preferably a single piece structure having a cavity 28 for
receiving the boss 30 of the conventional instrument 12. The boss
30 may also be provided with a recess 32 for receiving a locking
screw 34 that extends through the grip 16 into the cavity 28 and
into the recess 32. The use of the locking screw 34 secures the
instrument 12 within the guide member 10. Motions of the instrument
are thus directly transferred to the grip 16 and, in turn, to the
proximal bendable member 20. The length of the guide member is
selected so that the instrument tool extends beyond the end of the
guide member, as depicted in FIG. 3.
This first embodiment also discloses the details of the proximal
and distal bendable members 20 and 22, particularly in FIGS. 4-6.
Bendable member 20 has a central passage 56 through which the
instrument shaft 36 can extend. FIG. 4 also illustrates the lumen
58 defined by the guide shaft 18 with the instrument shaft 36
extending therethrough. Similarly, the distal bendable member 22
includes a passage 60 for receiving the instrument shaft 36. In
FIG. 4 the guide shaft 18 is shown as rigid, but could also be
partially rigid or flexible. The guide shaft 18 may be made of a
light weight metal material or of plastic.
The grip 16 includes a cavity 62 (see FIG. 6) for receiving one end
of the proximal bendable member 20. This bendable member 20 is
seated at the end wall 64 of the grip 16. The wall 64 has a tapered
or conical passage 66 for receiving the instrument shaft 36. As
depicted in FIG. 6, there are also provided several passages 68 for
cabling. The grip 16 also includes a cavity 70 for the anchors 86
and springs 88. This includes a plurality of proximal anchors 86
and related springs 88. The springs 88 are for tensioning the
associated cables 76-82. The distal bendable member 22 includes an
extending end 94 for receiving the distal anchors 84 that secure
the distal ends of the actuation cables 76-82. The grip 16 also
preferably includes a raised lip 72 that is useful in grasping the
guide grip 16. The raised lip 72 preferably has spaced finger
grooves 74.
The control between the proximal and distal bendable members is
carried out primarily by means of a set of cables that extend
between these bendable members. A bending at the proximal bendable
member causes a pulling of one or more cables while there is a
relaxing of other opposed cables causing a corresponding bending
action at the distal bendable member. The cabling that is used
includes flexible cables 76, 78, 80 and 82 that extend between the
proximal and distal bendable members. A plurality of distal anchors
84 are used at the distal end of the cabling. Cable passages 90 are
provided in the proximal bendable member 20, and cable passages 92
are provided in the distal bendable member 22. The passages 90 and
92 accommodate these cables. Also, guide discs (not shown) may be
provided along the cables, particularly within the guide shaft 18
so assure that the cables are maintined in position as they extend
from one end of the guide shaft to the other end.
The proximal bendable member 20 is comprised of a series of
adjacent discs 98 that define therebetween spaces or slots 100.
Connecting ribs 102 extend between adjacent discs 98. FIG. 5
depicts the location of the ribs 102. In a similar manner, the
distal bendable member 22 includes a series of discs 104 that
define therebetween slots or spaces 106. Ribs 108 extend between
adjacent discs 104. For further details of the bendable members and
the prefered relationship between the disks, slots and ribs, refer
to application Ser. No. 11/185,911, filed on Jul. 20, 2005, the
content of which is hereby incorporated by reference herein.
FIGS. 7 and 8 depict the guide member with the instrument inserted
therein and also depicts the various motions that occur depending
upon the position of the control cables that control the bending
actions. In FIG. 7, a downward movement of the proximal bendable
member 20 causes an upward movement of the distal bendable member
22. Alternatively, in FIG. 8 a downward movement of the proximal
bendable member 20 causes a downward movement of the distal
bendable member 22. This all occurs by virtue of the cabling being
either extended or retracted as the proximal bendable member is
manipulated. The different direction bending comes about by either
having the cabling straight, as in FIG. 7 or crossed 180 degrees ,
as in FIG. 8. In FIGS. 7 and 8, the instrument handle is shown
fixed to the grip portion 16, and by manipulating of the handle,
this causes a direct manipulation of the grip portion, which, in
turn, controls the bending at the proximal bendable member. The
bending at the proximal bendable member, in turn, controls the
positioning of the distal bendable member and end effector.
A second embodiment of the present invention is shown in FIGS. 9
and 10. This uses a two-piece grip 116 with a rotation knob 112.
This embodiment allows the same bending action as in the first
embodiment via proximal and distal bendable members, but
additionally allows the user to rotate the guide member relative to
the grip portion 116. This rotation action causes rotation of the
bendable members 20, 22 and guide shaft 36 on their axes.
The embodiment of FIGS. 9 and 10 also illustrates the instrument
handle being fixedly supported to the grip 116. In this particular
embodiment, rather than a single-piece grip, there is provided an
essentially two-piece grip that also includes the rotation knob
112. A boss 114 is provided on the knob 112 terminating in an end
wall 118 of the rotation knob 112. The grip 116 is provided with a
cavity 120 for receiving the boss 114. Retention means 122 (annular
innwardly extending rib) extends from the grip 116 into an annular
slot. In this way the rotation knob 112 is engaged with the grip
116 but is freely rotatable relative to the grip 116. FIG. 10 also
shows the arrow 111 indicating rotation of the instrument handle 12
relative to the knob 112. Arrow 113 indicates the corresponding
rotation at the end effector 38. Even though the item 112 is
refered to as a rotation knob, it is understood that the knob 112
can be held non-rotatable while the grip 116 is rotated relative
thereto, such as depicted by the arrows 111, 113 in FIG. 10.
In the first two embodiments of the invention described in FIGS.
1-10, the guide shaft itself may be rigid, flexible or semi-rigid,
but is basically depicted as rigid. The instrument shaft itself is
preferably at least partially flexible so that it can flex as the
proximal end distal members are operated.
A third embodiment of the present invention is shown in FIG. 11
illustrating a flexible or partially flexible guide shaft or tube
126. In the first two embodiments the guide shafts can be rigid or
partially flexible and the instrument shaft should be at least
partially flexible so as to flex when the bendable members are in
action. The embodiment illustrated in FIG. 11 is meant to use a
flexible or semi-flexible guide tube 126. This is illustrated as
being placed through a cannula 8 at an insertion site 6 of the
patient's skin 4, such as for laparoscopic use. FIG. 11 also
schematically illustrates the instrument handle 12, the grip and
the proximal and distal bendable members 20 and 22. Other than the
guide shaft 126, the rest of the guide member may be substantially
identical to that described in either FIG. 1-8 or 9 and 10. This
particular embodiment also lends itself to use of the instrument
and guide assembly intraluminally, such a through an incision or
natural body orifice. The end effector may be located in the lumen
or the instrument may be positioned so that the end effector is
either located in a body cavity or extends through a body lumen or
vessel to a cavity.
This third embodiment may also accommodate a conventional endoscope
within the guide member. The endoscope is inserted in the guide
member. Such an endoscope may have channels for instrumentation,
for optics or for other purposes such as irrigation. In that case,
the guide member of the present invention can be used for steering
the endoscope. This may be quite useful, particularly for
intraluminal applications, wherein the endoscope is required to
navigate tight curvatures in the anatomic lumen.
A fourth embodiment is shown in FIGS. 12-14 using a one-piece grip
that allows the guide member to be rotatable relative to the
instrument handle. FIG. 12 is an exploded side view of this fourth
embodiment of the guide device used with a second embodiment of a
surgical instrument, namely one that includes an interlock between
the instrument and guide member. FIG. 13 is a view of the proximal
end of the guide device of FIG. 12, as taken along line 13-13 of
FIG. 12. FIG. 14 is a schematic side view of the instrument and
guide assembly of FIG. 12 in use through an incision. The
embodiment of FIGS. 12-14 may be considered as a quick disconnect
via the use of a catch that readily enables the instrument to be
connected and disconnected with the guide member.
As shown in FIG. 14 rotation can occur of either the handle or
grip. The embodiment depicted in FIGS. 12-14 uses a one-piece grip
130 having at one end a raised lip 132 with a catch 133 that
extends into the cavity 134. The grip 130 may be substantially the
same as the grip depicted in FIGS. 1-6. The boss 138 on the handle
40 has an annular groove 139. The catch 133 is engaged within the
annular groove 139 once the instrument is inserted into the guide
member 128. In the embodiment of FIGS. 12-14, the guide member 128
is connected with the instrument in a manner where the guide member
128 can be rotated relative to the instrument or vice versa. This
occurs by virtue of the catch 133 being readily rotatable within
the groove 139 of the instrument handle. In essence, either the
grip 130 can be rotated to rotate the entire guide member or the
handle of the instrument itself can be rotated. These two different
rotations are illustrated by separate arrows 121, 123 in FIG. 14
and corresponding arrows 125, 127 at the distal end of the
instrument. The rotation arrow 121 associated with the handle
controls the rotation depicted by the distal arrow 127. The
rotation arrow 123 associated with the grip controls the rotation
depicted by the distal arrow 125.
In FIG. 14 note that the guide member shaft 18 extends through the
cannula 8 at the insertion site 6 of the patient's skin 4. The end
effector or tool 38 is disclosed in FIG. 14 as extending from the
distal bendable member 22. A protective sheath may extend about the
distal flex member 22.
A locking device or mechanism may also be associated with the
instrument assembly of FIG. 14 in which case the cabling between
the proximal and distal bendable members 20, 22 is pinched off
holding the bendable members in a fixed bendable orientation. Refer
to co-pending application Ser. No. 10/822,081, filed Apr. 12, 2004,
which is hereby incorporated by reference in its entirety, for an
illustration of a locking mechanism, particularly set forth in FIG.
27. This is described as locking the cables in a particular
position so that the orientation of the bendable members are fixed.
With this arrangement if the guide member is rotated with the
members 20, 22 bent then there is a rotation of the curved distal
bendable member, thus displacing the end effector and providing an
additional degree of control thereof. This additional degree of
control can be provided with several of the embodiments described
in this application. Rotation of the instrument itself rotates the
end effector within the guide member.
A fifth embodiment is shown in FIGS. 15-17 in which the guide
member operates as before, but the additional feature is the
support of the instrument that allows a sliding action of the
instrument within the guide member, as well as a rotation of the
instrument. When the instrument is engaged with the guide member
the bending motions can be transferred as in earlier embodiments.
In addition the user can move the instrument linearly in and out
within the guide member, and can rotate the instrument within the
guide member. This embodiment is, in particular, advantageous for
intraluminal use of the instrument assembly where is may be
desirable to have the capability to linearly move the instrument
within a body lumen.
FIG. 15 is an exploded side view of the fifth embodiment of the
guide device with a third embodiment of the surgical instrument.
FIG. 16 is a view of the proximal end of the guide device of FIG.
15, as taken along line 16-16 of FIG. 15. FIG. 17 is a schematic
side view of the instrument and guide assembly of FIG. 15 in use as
inserted through a patient's skin at an incision. As mentioned
before the instrument assembly may also be used intraluminally in
which case the instrument and guide shafts are both flexible along
their respective lengths.
In the embodiment of FIGS. 15-17, it is noted that the grip 142 has
associated therewith a rotational knob 144. The grip and rotational
knob may be supported such as in the manner previously described in
FIG. 4. In the illustrated embodiment the grip portion and rotation
knob are preferably one-piece. The grip portion 142 includes an end
wall 146 and a tapered passage 148 for receiving the instrument
shaft 36. The very proximal end 141 of the shaft 36 may be seated
in the tapered passage 148. Because the surgical instrument itself
is not secured into the grip, it is possible to move the surgical
instrument linearly such as in the direction of the arrow 145 in
FIG. 17 to provide the corresponding linear translation of the end
effector as in the direction of arrow 147 illustrated in FIG. 17.
In addition to this linear movement, there is, of course, also
bending action as occurs in previous embodiments between the
proximal and distal bendable members of the guide tube.
In the embodiment of FIGS. 15-17, the instrument is also capable of
being rotated. Arrows in FIG. 17 indicate rotation of the handle
and deflection of the proximal bendable member. Corresponding
arrows indicate motion at the distal end of the instrument
assembly. Arrow 151. indicates a bending at the proximal bendable
member 20 and arrow 153 indicates a corresponding bending at the
distal bendable member 22. Arrow 155 indicates a rotation at the
instrument handle and arrow 157 indicates a corresponding rotation
at the end effector. In FIG. 17 the instrument shaft is shown with
a certain length, but it is understood that the length thereof may
vary depending upon the particular medical use.
FIG. 18 is an exploded side view of a sixth embodiment of the guide
device and a fourth embodiment of the surgical instrument. FIG. 19
is a schematic side view of the instrument and guide assembly of
FIG. 18 in use as inserted through a patient's skin at an incision.
The sixth embodiment shown in FIGS. 18 and 19 uses a one-piece grip
including grip portion 142 and knob portion 144. The instrument
itself has a rotation knob 156 with a boss 158 that extends within
a cavity 160 of the handle 40. FIG. 18 also illustrates the
instrument shaft 162. An end effector 38 is also illustrated at the
very distal end of the instrument shaft. A push-pull cable 164
extends through the instrument shaft 162 and is secured at a
rotational barrel 166 within the slider 168. End effector actuation
occurs via the lever 167. The view of FIG. 19 illustrates the
instrument having been inserted into the guide member. At the
proximal end of the assembly, there are provided one bendable
member 20 of the guide member, a rotation knob and grip on the
guide member and and a rotation knob 156 of the instrument handle.
At the distal end of the instrument, there is provided distal
bendable member 22 of the guide member. The embodiment of FIGS. 18
and 19 allows bending at the proximal bendable member and also
allows rotation at the knob 156. The catch 176 in the annular slot
172 of coupler 170 prevents any linear translation of the
instrument relative to the guide member but permits relative
rotation of the instrument handle. The 170 is adapted to fit within
the cinical cavity 174 of the guide member.
In the embodiment of FIGS. 18 and 19 there are several degrees of
motion that are possibly due to the bendable members that are used
and the rotations that are possible. Some of these motion are
illustrated in FIG. 19 by means of corresponding arrows. Arrow 171
indicates a rotation of the instrument and arrow 173 indicates a
corresponding rotation at the instrument end effector. Arrow 175
indicates a rotation of the guide member at the grip 142 and arrow
177 indicates a corresponding rotation at the distal end of the
guide member. Arrow 179 indicates a bending at the bendable section
20 and arrow 181 indicates a corresponding bending at the distal
bendable member 22.
Reference is now made to related application Ser. Nos. 10/822,081
filed Apr. 12, 2004 and 11/185,911 filed Jul. 20, 2005 which are
hereby incorporated by reference herein and considered as a part of
the disclosure in the instant application. The subject matter of
these applications incorporates proximal and distal bendable
members within the instrument itself. An instrument of this type
can also be used in association with the guide member of the
present invention that also includes proximal and distal bendable
sections or members. Embodiments are now described that incorporate
bendable members in both the instrument and guide member.
A seventh embodiment is shown in FIGS. 20 and 21. This embodiment
employs a non-conventional instrument such as the instrument
described in co-pending application Ser. No. 11/185,911, filed Jul.
20, 2005 which uses proximal and distal bendable sections of the
instrument. Thus, the combined assembly actually has two proximal
bendable members and two distal bendable members so as to provide
greater degrees of control of the end effector. There is a proximal
bendable member on the guide member and one on the instrument
itself. There is a distal bendable member on the guide member and
one on the instrument itself.
FIG. 20 is an exploded side view of the fifth embodiment of the
guide device as used with a fifth embodiment of the surgical
instrument. FIG. 21 is a schematic side view of the instrument and
guide assembly of FIG. 20 in use as inserted through a patient's
skin at an incision. The embodiment of FIGS. 20 and 21 differs from
the embodiment of FIGS. 18 and 19 primarily in that it has the
ability to linearly translate the instrument within the guide
member. FIG. 21 shows the various motions of the assembly as
illustrated by the arrows.
Accordingly, in the embodiment of FIGS. 20 and 21 there is provided
an instrument that has a rotation knob 182 with a boss 184 that
extends within a cavity 186 of the handle 40. FIG. 20 also
illustrates the instrument shaft 162, the proximal bendable member
188 and the distal bendable member 190. An end effector 38 is also
illustrated at the very distal end of the instrument shaft. A
push-pull cable 164 extends through the instrument shaft 162 and is
secured at a rotational barrel 166 within the slider 168. For
further details of the instrument described in FIG. 20, refer to
application Ser. Nos. 10/822,081 and 11/185,911 and, in particular,
FIG. 8 of Ser. No. 11/185,911.
The embodiment in FIGS. 20 and 21 also includes the grip portion
142 and the rotation knob 144 that have been described previously
in connection with FIGS. 15-17. In FIG. 20 the guide member 140
also includes proximal bendable member 20, distal bendable member
22 and guide shaft 18. The coupler 26 connects the proximal
bendable member with the guide shaft.
The view of FIG. 21 illustrates the instrument having been inserted
into the guide member. At the proximal end of the assembly, there
are provided two bendable members, namely, proximal bendable
members 20 and 188, associated, respectively, with the grip 142 and
the instrument handle 40. At the distal end of the instrument,
there are provided distal bendable members 22 and 190 associated,
respectively, with the guide shaft 18 and the instrument shaft 162.
The version of FIG. 21 also can provide linear translation of the
instrument within the guide. The arrows in FIG. 21 show the various
motions.
In the embodiment of FIGS. 20 and 21 there are several degrees of
motion that are possibly due to the several bendable members that
are used and the rotations that are possible. Some of these motion
are illustrated in FIG. 21 by means of corresponding arrows. Arrow
171 indicates a rotation of the instrument at the knob 182 and
arrow 173 indicates a corresponding rotation at the instrument end
effector. Arrow 175 indicates a rotation of the guide member at the
grip 142 and arrow 177 indicates a corresponding rotation at the
distal end of the guide member. Arrow 179 indicates a bending at
the bendable section 20 and arrow 181 indicates a corresponding
bending at the distal bendable member 22. Arrow 183 indicates a
bending at the bendable section 188 and arrow 185 indicates a
corresponding bending at the distal bendable member 190.
An eighth embodiment of the invention is illustrated in FIGS. 22
and 23. This embodiment is quite similar to the embodiment
illustrated in FIGS. 20 and 21 in that it uses the two pairs of
cooperating bendable sections, one pair on the instrument and the
other pair on the guide member. However, in this embodiment a
one-piece grip portion is employed with a catch 176 for securing
the instrument within the grip portion, while allowing rotation,
but no linear translation. Refer to FIGS. 12-14 for further details
of the grip portion of the guide member.
FIG. 22 is an exploded side view of the sixth embodiment of the
guide device as used with a sixth embodiment of the surgical
instrument. FIG. 23 is a schematic side view of the instrument and
guide assembly of FIG. 22 in use as inserted through a patient's
skin at an incision. In FIG. 22 the guide member 142 has a conical
cavity 174 into which the catch 176 can extend for engagement with
the instrument body. This engagement allows relative rotation but
not linear translation.
Accordingly, in the embodiment of FIGS. 22 and 23 there is provided
an instrument 194 that has a rotation knob 182 with a boss 184 that
extends within a cavity 186 of the handle 40. FIG. 22 also
illustrates the instrument shaft 162, the proximal bendable member
188 and the distal bendable member 190. An end effector 38 is also
illustrated at the very distal end of the instrument shaft. A
push-pull cable 164 extends through the instrument shaft 162 and is
secured at a rotational barrel 166 within the slider 168. For
further details of the instrument described in FIG. 22, refer to
application Ser. Nos. 10/822,081 and 11/185,911 and, in particular,
FIG. 8 of Ser. No. 11/185,911.
The embodiment in FIGS. 22 and 23 also includes an instrument
having a cover or coupler 192 that connects the proximal bendable
member 188 with the guide shaft 162. The coupler 192 has an annular
groove 196 that is adapted to receive the free end of the catch
176. This catch and groove arrangement allows rotation between the
instrument and the guide member. The conical surface of the coupler
192 mates with the conical shaped cavity 174 in the grip 142. FIG.
23 shows the instrument fully and operably engaged with the guide
member.
In the embodiment of FIGS. 22 and 23 there are several degrees of
motion that are possibly due to the several bendable members that
are used and the rotations that are possible. Some of these motion
are illustrated in FIG. 23 by means of corresponding arrows. Arrow
171 indicates a rotation of the instrument at the knob 182 and
arrow 173 indicates a corresponding rotation at the instrument end
effector. Arrow 175 indicates a rotation of the guide member at the
grip 142 and arrow 177 indicates a corresponding rotation at the
distal end of the guide member. Arrow 179 indicates a bending at
the bendable section 20 and arrow 181 indicates a corresponding
bending at the distal bendable member 22. Arrow 183 indicates a
bending at the bendable section 188 and arrow 185 indicates a
corresponding bending at the distal bendable member 190.
A nineth embodiment of the present invention is shown in FIG. 24 in
which the guide member accommodates multiple instruments as well as
other possible instrumentation. Any of the various instruments that
have been previously illustrated may be used in this embodiment.
FIG. 24 shows a channel that may be used, for example, for
irrigation purposes or for optics. FIG. 24 is an embodiment in
which the guide shaft has multiple channels for receiving multiple
instruments or other devices and may be either flexible, rigid or
semi-flexible. FIG. 24 shows a connector 216 coupled to a proximal
end of a catheter or other tubular device 214 that can be used
either for optics or for other purposes. The tube 214 extends
through one of the lumens within the guide member 200. Both of the
instruments illustrated in FIG. 24 may be considered as of the same
type as previously described in either FIG. 20 or 22. Each of these
instruments is illustrated as controling a respective end effector
38.
In the embodiment of FIG. 24 there is provided a one-piece grip 202
having a raised lip 204 that may be grasped by the user. In an
alternate embodiment a two-piece grip may be used. The guide member
has a proximal bendable member 206 and a distal bendable member
208. Cabling connects between these bendable members in the same
manner as previously described with guide members having only one
lumen. The guide member 200 may be considered as having three
separate lumens; two lumens 210 accommodate the respective
instruments 180 and one lumen 212 is for receiving the catheter,
tube or shaft 214. In this embodiment because the instruments have
been described before there is no detailed description herein.
Refer to FIGS. 19-23. Each of the instruments includes a proximal
bendable section 188 and a distal bendable section 190. Each also
includes a control knob 182.
In the embodiment of FIG. 24 there are several degrees of motion
that are possible due to the several bendable members that are used
and the rotations that are possible. Some of these motion are
illustrated in FIG. 24 by means of corresponding arrows. Arrow 171
indicates a rotation of the instrument at the knob 182 and arrow
173 indicates a corresponding rotation at the instrument end
effector. Arrow 175 indicates a rotation of the guide member at the
grip 142 and arrow 177 indicates a corresponding rotation at the
distal end of the guide member. Arrow 179 indicates a bending at
the bendable section 20 and arrow 181 indicates a corresponding
bending at the distal bendable member 22. Arrow 183 indicates a
bending at the bendable section 188 and arrow 185 indicates a
corresponding bending at the distal bendable member 190.
Reference is now made to a further embodiment of the present
invention illustrated in FIG. 25 in which the guide member accepts
one or more instruments, but instead of having a single bendable
member on each end of the guide shaft there are two or more
bendable members or sections on each end. A first proximal bendable
member controls a first distal bendable member and a second
proximal bendable member controls a second distal bendable member.
The control is by means of first cabling that extends between the
respective first bendable members and separate second cabling that
extends between the respective second bendable members. In this
way, an instrument inserted in the guide member has enhanced
control by virtue of added degrees of control with the multiple
proximal bendable members controlling respective multiple distal
bendable members.
FIG. 25 shows an instrument guide member that incorporates the
multiple bendable member concepts. This guide member 220 may be
similar to that described previously in FIG. 1 but includes
multiple bendable sections at both ends of the guide member.
Although only two bendable members are illustrated at each end of
the guide member, it is understood that more than two may be
incorporated in the guide device 220. The guide member 220 may
receive an instrument such as the instrument disclosed in FIG. 1,
but can also receive other instrument designs such as other ones
disclosed herein or in the related application mentioned herein.
The particular instrument of FIG. 1 locks to the grip portion 222
of the guide member 220 by means of the locking screw 224. An end
effector (not shown) extends from the very distal end of the guide
member 220 when the instrument is fully inserted in the guide
member. The guide of FIG. 25 may also accommodate multiple
instruments, as in FIG. 24.
In FIG. 25, the guide member or guide instrument 220 is depicted
separately from the surgical instrument as in FIG. 1. The assembled
system has the instrument inserted into and through the guide
member 220. The guide member 220 includes a guide shaft 226 that
may extend through a cannula at an insertion site of the patient
disposing the proximal bendable members outside the patient and the
distal bendable members within the patient adjacent the operative
site. The end effector or tool extends from the very distal end of
the guide member. A protective sheath may extend about one or both
of the distal flexible or bendable members.
The guide member 220, in addition to including the guide shaft 226,
also includes a first proximal flexible or bendable member 228A and
a second proximal flexible or bendable member 228B. An adaptor
cover 232 is disposed about a portion of the proximal bendable
member 228B. The adaptor cover 232 includes a funnel or
conical-shaped portion or cavity 234 (see cavity 96 in FIG. 6) for
respectively receiving ends of the proximal bendable member 228B
and the guide shaft 226. The more proximal end of the proximal
bendable member 228B is held in an intermediate member 236 that may
be of various lengths depending upon the particular medical
application. The intermediate section 236 may be rigid, flexible or
semi-flexible, but is preferably rigid. The intermediate member 236
also holds the more distal end of the proximal bendable member
228A. The bendable members 228A and 228B are thus separately
mounted and can be separately controlled from the instrument handle
actions.
The grip 222 of the guide member 220 receives the other end of the
proximal bendable member 228A. The grip 222 is preferably a single
piece structure having a cavity 238 for receiving the boss of the
instrument, as depicted in FIG. 1. The boss may also be provided
with a recess for receiving the locking screw 224 that extends
through the grip 222 into the cavity 238 and into the recess in the
instrument. The use of the locking screw 224 secures the instrument
within the guide member 222. Motions of the instrument are thus
directly transferred to the grip 222 and both of the proximal
bendable members. The length of the guide member is selected so
that the instrument tool extends beyond the end of the guide
member, as depicted in FIG. 3.
The embodiment of FIG. 25 also discloses the details of the
proximal and distal bendable members 228 and 230. Each of the
members may be constructed as illustarted before in FIGS. 4-6. All
of these bendable member have a central passage through which the
instrument shaft can extend. FIG. 25 also illustrates the lumen 240
defined by the guide shaft 226 with the instrument shaft extendable
therethrough. Similarly, the distal bendable members include a
centrally disposed passage for receiving the more distal end of the
instrument shaft. In FIG. 25 the guide shaft 226 is shown as rigid,
but could also be partially flexible or flexible. The guide shaft
226 may be made of a light weight metal material or of plastic.
The grip 222 includes a cavity (see FIG. 6) for receiving one end
of the proximal bendable member 228A. The grip 222 also preferably
includes a raised lip that is useful in grasping the guide grip
222. The raised lip preferably has spaced finger grooves. This
bendable member 228A is seated at an end wall of the grip 222. This
end wall may have a tapered or conical passage for receiving the
instrument shaft. As depicted in FIG. 6, there are also provided
several passages for cabling. The grip 222 may also include a
cavity for anchors and springs, as depicted in the first embodiment
described herein. This includes a plurality of proximal anchors and
related springs. The springs are for tensioning the associated
cables. For the proximal bendable member 228B the anchors and
springs may be disposed in the intermediate member 236. Cabling
associated with the proximal bendable member 228A passes through
the intermediate member 236.
The guide member 220, at the distal end thereof, includes a pair of
spacedly disposed distal bendable members 230A and 230B separated
by the intermediate member 244. The distal bendable members 230A
and 230B may include an extending end 242 for receiving distal
anchors that secure the distal ends of the actuation cables. The
actuation cables associated with the distal bendable member 230A
may be disposed in the intermediate section 244 between the distal
bendable members 230A, 230B. The control between the proximal and
distal bendable members is carried out primarily by means of a set
of cables that extend between these bendable members. A bending at
the proximal bendable member causes a pulling of one or more cables
while there is a relaxing of other opposed cables causing a
corresponding bending action at the distal bendable member. The
cabling may be provided in either the arragement of FIG. 7 or of
FIG. 8, depending on the desired direction of bending.
The cabling that is used includes flexible cables that extend
between the proximal and distal bendable members. Refer to FIG. 1.
A plurality of distal anchors are used at each end of the cabling.
Cable passages are provided in the proximal bendable members and
the distal bendable members. The passages accommodate these cables.
Also, guide discs (not shown) may be provided along the cables,
particularly within the guide shaft so as to assure that the cables
are maintined in position as they extend from one end of the guide
shaft to the other end.
The proximal bendable members are each comprised of a series of
adjacent discs that define therebetween spaces or slots, as in
FIGS. 4-6. Connecting ribs extend between adjacent discs. FIG. 5
depicts the location of the ribs. In a similar manner, the distal
bendable members each include a series of discs that define
therebetween slots or spaces. Ribs extend between adjacent discs.
For further details of the bendable members and the preferred
relationship between the disks, slots and ribs, refer to
application Ser. No. 11/185,911, filed on Jul. 20, 2005, the
content of which is hereby incorporated by reference herein.
Now, in the embodiment of FIG. 25 the cabling is preferably
connected so that there are four cables between the proximal
bendable member 228A and the distal bendable member 230B, and
likewise there are four cables between the proximal bendable member
228B and the distal bendable member 230A. In an alternate
arrangement the cabling from the proximal bendable member 228A may
control the distal bendable member 230A and the cabling from the
proximal bendable member 228B may control the distal bendable
member 230B. Also, fewer or greater numbers of cables may be used
for control between the proximal and distal bendable members.
The user of the instrument system may grasp the instrument handle,
engage the instrument with the guide, as in FIG. 3 and manipulate
the guide member essentially by manipulating the instrument handle
which is secured to the guide grip 222. A deflection, for example,
of the proximal bendable member 228A causes the cables to be
tensioned and relaxed so as to cause the distal bendable member
230B to be correspondingly deflected. This deflection may be in the
same direction or in opposed directions. See FIGS. 7 and 8.
Similarly, a deflection of the proximal bendable member 228B causes
the cables to be tensioned and relaxed so as to cause the distal
bendable member 230A to be correspondingly deflected.
Reference is now made to a further embodiment of the present
invention in which a locking feature is added to the guide member.
In this regard see this embodiment illustrated in FIGS. 26-31. FIG.
26 is an exploded side view of still another embodiment having a
locking feature. FIG. 27 is a schematic side view of the instrument
of FIG. 26 and in use. FIG. 28 is an end view as taken along line
28-28 of FIG. 26. FIG. 29 is a partially exploded perspective view
of the manually operated instrument being inserted into the guide
member. FIG. 30 is a cross-sectional side view of the angle locking
means shown in FIGS. 26-29. FIG. 31 is a cross-sectional side view
like that shown in FIG. 30, but with the angle locking means
engaged.
In FIGS. 26-31 the guide member or instrument 10 has a proximal
bendable member 20 and distal bendable member 22 and receives, via
lumen 58, the manually operated instrument 12 such as depicted in
FIG. 27 in the inserted position of the instrument 12. The
instrument 12 may be conventional and is secured in the guide
member 10 so that motions at the instrument handle 40 are
essentially transferred through the guide member 10 to control the
positioning of the end effector or tool. In other words a
deflection of the handle 40 causes a bending of the proximal
bendable member 20 which, in turn, bends the distal bendable member
22 to control the placement of the tool or end effector 38 of the
manually operated instrument. This embodiment also includes a grip
portion 274 that provides the interface between the handle 40 and
the proximal bendable member 20. In this embodiment there is no
rotation knob provided. The instrument 12 is locked to the guide
member 10 so there is also no linear motion of the instrument
relative to the guide member.
Referring to FIG. 27, the surgical instrument 12 may be considered
as of conventional design and is comprised of a handle 40 at the
proximal end of the instrument, an elongated flexible instrument
shaft 36 and a tool or end effector 38 disposed at the distal end
of the surgical instrument 12. In the disclosed embodiment the
instrument shaft 36 is preferably constructed so as to be at least
partially flexible or bendable so as to sufficiently bend with the
bending of the bendable members of the guide member 10. At the
least the instrument shaft is flexible at the area corresponding to
the two bendable sections, but could be rigid at other area along
its length. The tool 38 is illustrated as including a fixed jaw 54
and a moveable jaw 52. The tool 38 is actuated by means of an
actuation cable 50 that extends through the instrument shaft 36 and
is controlled from the slider 46 and return spring 48. The slider
and return spring are shown in dotted outline in FIG. 26. A lever
42 operates the slider 46 through the linkage or transfer bar 44.
The closure of the lever 42 pulls the cable 50 to close the jaws
52, 54. For further details of the tool actuation mechanism refer
to co-pending application Ser. No. 11/185,911, filed on Jul. 20,
2005, the content of which is hereby incorporated by reference
herein.
In FIG. 26 the guide member or guide instrument 10 is depicted
separately from the manually operated surgical instrument 12. In
FIG. 27, there is shown the assembled system with the instrument
having been inserted into and through the lumen 58 of the guide
member 10. In FIG. 27 note that the guide member shaft 18 extends
through the cannula 8 at the insertion site 6 of the patient's skin
4. The end effector or tool 38 is disclosed in FIG. 27 as extending
from the distal bendable member 22. FIG. 27 also shows a protective
sheath 24 that may extend about the distal flex member 22.
The guide member 10, in addition to including the guide shaft 18,
also includes the proximal flexible or bendable member 20 and the
distal flexable or bendable member 22. An adaptor cover 26 is
disposed about a portion of the proximal bendable member 20. The
adaptor cover 26 includes a funnel or conical-shaped portion for
receiving ends of the proximal bendable member 20 and the guide
shaft 18.
The manual instrument 12 is illustrated as having an end boss 30
that is provided with a recess 32 for receiving a spring loaded
latch 282 that extends into the recess 32 in the instrument boss
30. The use of the spring loaded latch 282 secures the instrument
12 within the guide member 10. The latch 282 is supported by the
hub or grip portion 274, as shown in FIG. 30. Motions of the
instrument 12 are thus directly transferred to the hub 274 and, in
turn, to the proximal bendable member 20. Thus, a user can insert
the manual instrument in the guide member, and then control the
distal part of the manual instrument by moving or deflecting the
handle 40 such as to a position illustrated in FIG. 31. The
relative length of the guide member and instrument are selected so
that the instrument tool extends beyond the end of the guide
member, as depicted in FIG. 27.
In FIGS. 26-31 there is shown some details of the proximal and
distal bendable members 20 and 22. Bendable member 20 has a central
passage through which the instrument shaft 36 can extend. In this
regard the lumen 58 defined in the guide shaft 18 may be considered
as extending also through both bendable members. Thus, the distal
bendable member 22 also includes a passage for receiving the
instrument shaft 36. The guide shaft 18 may be rigid, partially
rigid or flexible. The guide shaft 18 may be made of a light weight
metal material or of plastic.
The bendable member 20 is seated at its proximal end in the grip
portion 274. An end wall receives the ends of cabling at anchors
and possible associated springs. This includes a plurality of
proximal anchors and related springs. The springs are for
tensioning the associated cables 76-82. The distal bendable member
22 includes an extending end for receiving the distal anchors 84
that secure the distal ends of the actuation cables 76-82.
The control between the proximal and distal bendable members is
carried out primarily by means of a set of cables that extend
between these bendable members. A bending at the proximal bendable
member causes a pulling of one or more cables while there is a
relaxing of other opposed cables causing a corresponding bending
action at the distal bendable member. The cabling that is used
includes flexible cables 76, 78, 80 and 82 that extend between the
proximal and distal bendable members. A plurality of distal anchors
84 are used at the distal end of the cabling. Cable passages are
provided in the proximal bendable member 20, and cable passages are
provided in the distal bendable member 22. The passages accommodate
these cables. Also, guide discs (not shown) may be provided along
the cables, particularly within the guide shaft 18 so assure that
the cables are maintined in position as they extend from one end of
the guide shaft to the other end.
The proximal bendable member 20 is comprised of a series of
adjacent discs that define therebetween spaces or slots. Connecting
ribs may extend between adjacent discs. In a similar manner, the
distal bendable member 22 includes a series of discs that define
therebetween slots or spaces. Ribs may extend between adjacent
discs. For further details of the bendable members and the prefered
relationship between the disks, slots and ribs, refer to
application Ser. No. 11/185,911, filed on Jul. 20, 2005, the
content of which is hereby incorporated by reference herein.
The angle locking means 250 allows the instrument user to hold a
particular position and orientation of the guide member and, in
turn, the instrument itself. The locking member comprises an angle
locking means 250 that includes a ball and socket arrangement that
is compressed by an outer cinch ring member. The locking mechanism
or angle locking means 250 includes a ball and socket arrangement
that is disposed over the proximal bendable member 20 and that
follows the bending at the proximal bendable member. The locking
mechanism has locked and unlocked positions, is disposed about the
proximal movable or bendable member and is manually controlled from
the manually operated instrument 12 so as to fix the position of
the proximal movable member relative to the handle 12 in the locked
position thereof. The locking mechanism comprises a ball member and
a compressible hub that defines a socket member. in the disclosed
embodiment the hub is a split hub and the locking mechanism further
includes a cinch ring disposed about the split hub and a locking
lever mounted on the cinch ring for closing the cinch ring about
the hub to lock the hub against the spherical ball member. The
cinch ring interlocks with the hub but is preferably able to rotate
relative thereto when in the unlocked position.
The "ball" part is basically formed by the ball member 252, while
the "socket" part is basically formed by an extension of the
handle, namely the split hub 264, and identified in the drawings by
the socket 270, such as is illustrated in FIG. 31. The locking
mechanism locks the proximal bendable member in a desired position
and by doing that also locks the position of the distal bendable
member 22 of the guide and tool 38 of the manually operated
instrument 10. The proximal bending member 20, although it is
enclosed by the ball and socket arrangement, still allows the
instrument shaft 18 and the proximal bending member 20, along with
the cabling 76, 78, 80, 82, to rotate freely while also allowing
the axis of the instrument shaft 36 to be angled relative to the
axis of the handle in a free, or alternately, locked mode.
For this purpose refer to the ball member 252 which is shown in
further detail in FIGS. 30 and 31. The ball member 252 includes a
distal neck 254 that is contiguous with a partially spherical ball
end having a partially spherical outer surface. The neck 254 is
basically disposed over the adaptor 26 and conical portion 19 of
the proximal bendable member 20, while the ball 252 portion is
mainly disposed over the primary part of the proximal bendable
member 20. The ball member 252 is adapted to sit within a socket
270 that is formed in the handle in the form of the split hub 264
that can be collapsed about the ball member 252 by radially
compressing the cinch ring 266.
The ball member 252 is gimbaled in the split hub 264 that is
comprised of four quadrants or petals 264A-264D that can be clamped
against the outer spherical surface of the ball member 252 by means
of the cinch ring 266. The split hub 264 is supported at the distal
end of the handle by means of a plurality of spacedly disposed
struts 272 that, in one embodiment, are spaced approximately 120
degrees apart. The struts are supported from the proximal hub 274,
as shown in FIG. 30. As mentioned previously, the ball member 252
has a neck portion 254 that provides support for the distal end of
the proximal bendable member 20.
FIGS. 28 and 29 illustrate the cinch ring 266. Refer also to FIGS.
30 and 31 for an illustration of the cinch ring 266. The cinch ring
266 is an annular member that may be provided with an internal
ridge or spline that is adapted to mate with a channel or groove in
the outer surface of the split hub. This combination of a channel
and ridge limits the annular cinch member to just rotation about
the hub. FIG. 28 shows that each of the portions 264A-264D of the
split hub connects to the instrument handle via respective struts
272 (see also FIGS. 29 and 30). When the cinch ring 266 is closed
this, in turn, closes the slotted hub and essentially compresses
the socket 270 against the outer spherical surface of the ball
member 252. The locking of the ball member thus fixes the position
of the proximal bendable member 20, and, in turn, the distal
bendable member 22 and tool 38. For further details of the ball and
socket arrangement and associated cinch ring construction refer to
co-pending application Ser. No. 11/649,352 filed on Jan. 2, 2007,
the entire contents of which is hereby incorporated by
reference.
The cinch ring 266 is operated by means of an over-center locking
lever 268 that is connected to ends of the cinch ring 266 by means
of the pins or the like. FIG. 28 illustrates the lock lever 268 in
a locked position while FIG. 29 illustrates the lock lever in a
released or unlocked position. The cinch ring 266 is free to rotate
around the split hub when lever 268 is released by means of the
spline that rides in the groove in the circumference of the split
hub. This allows for left or right handed operation of the
instrument.
When the locking lever 268 is moved to its locked position this
compresses the cinch ring 266 closing the hub against the spherical
outer surface of the ball member 252. This locks the hub 274
against the ball member 252 holding the ball member in whatever
position it is in when the locking occurs. By holding the ball
member in a fixed position this, likewise, holds the proximal
bendable member in a particular position and fixed in that
position. This, in turn, maintains the distal bendable member and
tool at a fixed position.
In the embodiment of FIGS. 26-31 because the handle is locked with
the guide member by means of the latch 282, when the handle is
rotated in the direction of the arrow R10 then the end effector 38
actually orbits in and out of the plane of the paper in FIG. 27.
The rotation of the handle provides rotation of the guide shaft, as
well as the instrument shaft, but this is transferred to the tip of
the instrument by orbiting the end effector. If the latch 282 is
constructed so that it is releasable, then the manual instrument
may be rotated separately from the guide member. In that case, if
the guide member is held stationary (but in a bent condition, for
example, per FIG. 27) when the manual instrument is rotated, such
as in the direction of arrow R10 in FIG. 27, then the end tool 38
rotates about the distal tool axis (arrow R11) represented in FIG.
27 by the axis P.
Reference is now made to a further embodiment of the present
invention in which a locking feature is added to the guide member.
In this regard see this embodiment illustrated in FIGS. 32-36. FIG.
32 is an exploded side view of still another embodiment having a
locking feature. FIG. 33 is a schematic side view of the instrument
of FIG. 32 and in use. FIG. 34 is a partially exploded perspective
view of the manually operated instrument being inserted into the
guide member. FIG. 35 is a cross-sectional side view of the angle
locking means shown in FIGS. 32-34. FIG. 36 is a cross-sectional
side view like that shown in FIG. 35, but with the angle locking
means engaged.
In FIGS. 32-36 the guide member or instrument 10 has a proximal
bendable member 20 and distal bendable member 22 and receives, via
lumen 58, the manually operated instrument 12 such as depicted in
FIG. 33 in the inserted position of the instrument 12. The
instrument 12 may be conventional and is secured in the guide
member 10 so that motions at the instrument handle 40 are
essentially transferred through the guide member 10 to control the
positioning of the end effector or tool. In other words a
deflection of the handle 40 causes a bending of the proximal
bendable member 20 (as in FIG. 33) which, in turn, bends the distal
bendable member 22 to control the placement of the tool or end
effector 38 of the manually operated instrument . This embodiment
also includes a grip portion 292 that provides the interface
between the handle 40 and the proximal bendable member 20. The
guide member 10 also includes a rotation knob 294 for controlling
the rotation of the bendable members and tool. The instrument 12 is
locked to the guide member 10 so there is no linear motion of the
instrument relative to the guide member.
Referring to FIG. 33, the surgical instrument 12 may be considered
as of conventional design and is comprised of a handle 40 at the
proximal end of the instrument, an elongated flexible instrument
shaft 36 and a tool or end effector 38 disposed at the distal end
of the surgical instrument 12. In the disclosed embodiment the
instrument shaft 36 is preferably constructed so as to be at least
partially flexible or bendable so as to sufficiently bend with the
bending of the bendable members of the guide member 10. The tool 38
is illustrated as including a fixed jaw 54 and a moveable jaw 52.
The tool 38 is actuated by means of an actuation cable 50 that
extends through the instrument shaft 36 and is controlled from the
slider 46 and return spring 48. The slider and return spring are
shown in dotted outline in FIG. 32. A lever 42 operates the slider
46 through the linkage or transfer bar 44. The closure of the lever
42 pulls the cable 50 to close the jaws 52, 54. For further details
of the tool actuation mechanism refer to co-pending application
Ser. No. 11/185,911, filed on Jul. 20, 2005, the content of which
is hereby incorporated by reference herein.
In FIG. 32 the guide member or guide instrument 10 is depicted
separately from the surgical instrument 12. In FIG. 33, there is
shown the assembled system with the instrument having been inserted
into and through the lumen 58 of the guide member 10. In FIG. 33
note that the guide member shaft 18 extends through the cannula 8
at the insertion site 6 of the patient's skin 4. The end effector
or tool 38 is disclosed in FIG. 33 as extending from the distal
bendable member 22. FIG. 33 also shows a protective sheath 24 that
may extend about the distal flex member 22.
The guide member 10, in addition to including the guide shaft 18,
also includes the proximal flexible or bendable member 20 and the
distal flexable or bendable member 22. An adaptor cover 26 is
disposed about a portion of the proximal bendable member 20. The
adaptor cover 26 includes a funnel or conical-shaped portion for
receiving ends of the proximal bendable member 20 and the guide
shaft 18. The rotation knob 294 of the guide member 10 receives the
other end of the proximal bendable member 20. The rotation knob
294, as shown in FIGS. 35 and 36, interlocks with the hub or grip
portion 292. The manual instrument 12 is illustrated as having an
end boss 30 that is provided with a recess 32 for receiving a
spring loaded latch 282 that extends into the recess 32 in the
instrument boss 30. The use of the spring loaded latch 282 secures
the instrument 12 within the guide member 10. The latch 282 is
supported by the hub 292, as shown in FIG. 35. Motions of the
instrument 12 are thus directly transferred to the hub 292 and, in
turn, to the proximal bendable member 20. Thus, a user can insert
the manual instrument in the guide member, and then control the
distal part of the manual instrument by moving or deflecting the
handle 40 such as to a position illustrated in FIG. 36. This occurs
while the instrument control also is enabled via the rotation knob.
The relative length of the guide member and instrument are selected
so that the instrument tool extends beyond the end of the guide
member, as depicted in FIG. 33.
In FIGS. 32-36 there is shown some details of the proximal and
distal bendable members 20 and 22. Bendable member 20 has a central
passage through which the instrument shaft 36 can extend. In this
regard the lumen 58 defined in the guide shaft 18 maybe considered
as extending also through both bendable members. Thus, the distal
bendable member 22 also includes a passage for receiving the
instrument shaft 36. The guide shaft 18 may be rigid, partially
rigid or flexible. The guide shaft 18 may be made of a light weight
metal material or of plastic.
The rotation knob 294 receives one end of the proximal bendable
member 20. This bendable member 20 is seated at a center section of
the rotation knob 294, as depicted in FIGS. 35 and 36. The rotation
knob also receives the ends of cabling at anchors and possible
associated springs. This includes a plurality of proximal anchors
and related springs. The springs are for tensioning the associated
cables 76-82. The distal bendable member 22 includes an extending
end for receiving the distal anchors 84 that secure the distal ends
of the actuation cables 76-82.
The control between the proximal and distal bendable members is
carried out primarily by means of a set of cables that extend
between these bendable members. A bending at the proximal bendable
member causes a pulling of one or more cables while there is a
relaxing of other opposed cables causing a corresponding bending
action at the distal bendable member. The cabling that is used
includes flexible cables 76, 78, 80 and 82 that extend between the
proximal and distal bendable members. A plurality of distal anchors
84 are used at the distal end of the cabling. Cable passages are
provided in the proximal bendable member 20, and cable passages are
provided in the distal bendable member 22. The passages accommodate
these cables. Also, guide discs (not shown) may be provided along
the cables, particularly within the guide shaft 18 so assure that
the cables are maintined in position as they extend from one end of
the guide shaft to the other end.
The proximal bendable member 20 is comprised of a series of
adjacent discs that define therebetween spaces or slots. Connecting
ribs may extend between adjacent discs. In a similar manner, the
distal bendable member 22 includes a series of discs that define
therebetween slots or spaces. Ribs may extend between adjacent
discs. For further details of the bendable members and the prefered
relationship between the disks, slots and ribs, refer to
application Ser. No. 11/185,911, filed on Jul. 20, 2005, the
content of which is hereby incorporated by reference herein.
The angle locking and rotation means 290 allows the instrument user
to hold a particular position and orientation of the guide member
and, in turn, the instrument itself. The locking member comprises
an angle locking means 290 that includes a ball and socket
arrangement that is compressed by an outer cinch ring member. The
locking mechanism or angle locking means 290 includes a ball and
socket arrangement that is disposed over the proximal bendable
member 20 and that follows the bending at the proximal bendable
member. The locking mechanism has locked and unlocked positions, is
disposed about the proximal movable or bendable member and is
manually controlled from the manually operated instrument 12 so as
to fix the position of the proximal movable member relative to the
handle 12 in the locked position thereof. The locking mechanism
comprises a ball member and a compressible hub that defines a
socket member. In the disclosed embodiment the hub is a split hub
and the locking mechanism further includes a cinch ring disposed
about the split hub and a locking lever mounted on the cinch ring
for closing the cinch ring about the hub to lock the hub against
the spherical ball member. The cinch ring interlocks with the hub
but is preferably able to rotate relative thereto when in the
unlocked position.
The "ball" part is basically formed by the ball member 252, while
the "socket" part is basically formed by an extension of the
handle, namely the split hub 264, and identified in the drawings by
the socket 270. The locking mechanism locks the proximal bendable
member in a desired position and by doing that also locks the
position of the distal bendable member 22 of the guide and tool 38
of the manually operated instrument 10. The proximal bending member
20, although it is enclosed by the ball and socket arrangement,
still allows the instrument shaft 18 and the proximal bending
member 20, along with the cabling 76, 78, 80, 82, to rotate freely
while also allowing the axis of the instrument shaft 36 to be
angled relative to the axis of the handle in a free, or
alternately, locked mode.
For this purpose refer to the ball member 252 which is shown in
further detail in FIGS. 35 and 36. The ball member 252 includes a
distal neck 254 that is contiguous with a partially spherical ball
end having a partially spherical outer surface. The neck 254 is
basically disposed over the adaptor 26 and conical portion 19 of
the proximal bendable member 20, while the ball 252 portion is
mainly disposed over the primary part of the proximal bendable
member 20. The ball member 252 is adapted to sit within a socket
270 that is formed in the handle in the form of the split hub 264
that can be collapsed about the ball member 252 by radially
compressing the cinch ring 266.
The ball member 252 is gimbaled in the split hub 264 that is
comprised of four quadrants or petals 264A-264D that can be clamped
against the outer spherical surface of the ball member 252 by means
of the cinch ring 266. The split hub 264 is supported at the distal
end of the handle by means of a plurality of spacedly disposed
struts 272 that, in one embodiment, are spaced approximately 120
degrees apart. The struts are supported from the proximal hub 274,
as shown in FIG. 35. As mentioned previously, the ball member 252
has a neck portion 254 that provides support for the distal end of
the proximal bendable member 20. In this regard a bearing surface
256 is provided, as illustrated in FIGS. 35 and 36, between the
proximal end of the neck 254 and the adaptor 26. This enables the
proximal bendable member, along with the adaptor 26 to be free to
rotate relative to the ball member 252. FIGS. 35 and 36 also
illustrate a bearing surface at 258 between the very distal end of
the neck 254 and the outer tube or shaft 18. These bearing surfaces
256, 258 may be formed by actual bearings at those locations.
FIGS. 32-36 illustrate the cinch ring 266. The cinch ring 266 is an
annular member that may be provided with an internal ridge or
spline that is adapted to mate with a channel or groove in the
outer surface of the split hub. This combination of a channel and
ridge limits the annular cinch member to just rotation about the
hub. FIG. 34 shows that each of the portions 264A-264D of the split
hub connects to the instrument handle via respective struts 272
(see also FIG. 35). When the cinch ring 266 is closed this, in
turn, closes the slotted hub and essentially compresses the socket
270 against the outer spherical surface of the ball member 252. The
locking of the ball member thus fixes the position of the proximal
bendable member 20, and, in turn, the distal bendable member 22 and
tool 38. For further details of the ball and socket arrangement and
associated cinch ring construction refer to co-pending application
Ser. No. 11/649,352 filed on Jan. 2, 2007, the entire contents of
which is hereby incorporated by reference.
The cinch ring 266 is operated by means of an over-center locking
lever 268 that is connected to ends of the cinch ring 266 by means
of the pins or the like. FIG. 28 illustrates the lock lever 268 in
a locked position while FIG. 29 illustrates the lock lever in a
released or unlocked position. The cinch ring 266 is free to rotate
around the split hub when lever 268 is released by means of the
spline that rides in the groove in the circumference of the split
hub. This allows for left or right handed operation of the
instrument.
When the locking lever 268 is moved to its locked position this
compresses the cinch ring 266 closing the hub against the spherical
outer surface of the ball member 252. This locks the hub 274
against the ball member 252 holding the ball member in whatever
position it is in when the locking occurs. By holding the ball
member in a fixed position this, likewise, holds the proximal
bendable member in a particular position and fixed in that
position. This, in turn, maintains the distal bendable member and
tool at a fixed position, but the instrument orientation can be
controlled via the control of the rotation knob 294 which controls
the orientation of the instrument tip by enabling rotation of the
distal bendable member and tool about the tip axis P (see FIG.
33).
In the embodiment of FIGS. 32-36 because the handle is locked with
the guide member by means of the latch 282, when the handle is
rotated in the direction of the arrow R10 then the end effector 38
actually orbits in and out of the plane of the paper in FIG. 33.
The rotation of the handle provides rotation of the guide shaft, as
well as the instrument shaft, but this is transferred to the tip of
the instrument by orbiting the end effector. In the position shown
in FIG. 33, if the rotation knob 294 is operated, such as indicated
by the rotational arrow R20, then the end tool 38 rotates about the
distal tool axis represented in FIG. 33 by the tool axis P. This is
illustrated in FIG. 33 by the distal rotation arrow R21. If the
latch 282 is constructed so that it is releasable, then the manual
instrument may be rotated separately from the guide member. In that
case, if the guide member is held stationary (but in a bent
condition, for example, per FIG. 33) when the manual instrument is
rotated, such as in the direction of arrow R10 in FIG. 33, then the
end tool 38 rotates about the distal tool axis represented in FIG.
33 by the axis P.
In the embodiment of FIG. 26, as well as the embodiment of FIG. 32
the handle is fixed with the guide member, such as with the latch
that is illustrated. On the other hand in the next embodiment that
is illustrated in FIGS. 37-39 there is provided relative rotation
between the handle 40 and the guide member 10. For this purpose,
rather than fixing the position of the guide member relative to the
handle, the handle is provided with a boss 138 that includes a
peripheral groove or channel 139 that receives the distal end of
the latch 282. The boss 138 fits within the cavity 296 in the grip
portion 292. This arrangement allows the relative movement between
the handle and guide member by virtue of the latch having the
capability of rotating about the boss 138 in the groove 139. This
essentially provides an extra degree of freedom for the instrument
system.
Other than the configuration of the boss in this embodiment, all of
the other elements of both the guide member and manual instrument
are the same as previously described in connection with the
embodiment shown in FIGS. 32-36. This includes such elements as the
rotation knob 294, the angle locking means 300, cinch ring 266 and
support struts 272. Refer to the previous description of FIGS.
26-36 for further details of, inter alia, the angle locking means
and rotation knob. Thus, the entire manually operated instrument 12
can be rotated relative to the guide member 10, and furthermore,
the rotation knob 294 can be used independently to rotate the
manual instrument tip about its distal tip axis P. Note in FIG. 38
the rotational arrows R10, R20 and R21.
Reference is now made to a last embodiment of the present invention
shown in FIGS. 40-42. As with the previous embodiments described in
FIGS. 26-39, the same elements are used for about all of the
instrument system. This thus includes a manually operated
instrument 12 that is received in the guide member 10. This
embodiment also includes an angle locking means 310 that is
substantially the same as previously described angle locking means.
The primary difference between this embodiment and previously
described embodiments is that the manual instrument 12 is not fixed
with the guide member 10. Instead, the manually operated instrument
12 is allowed to move linearly relative to the guide member 10.
FIG. 40 shows an exploded side view of the manual instrument and
guide member and including a locking feature. FIG. 41 is a
schematic side view of the instrument of FIG. 40 and in use. FIG.
42 is a partially exploded perspective view of the manually
operated instrument being inserted into the guide member.
In the embodiment illustrated in FIGS. 41-42 the manually operated
instrument shaft 36 is insertable in the internal lumen 58 of the
guide member 10 and may be controlled by inserting or withdrawing
the manually operated instrument 12. When fully inserted the
proximal end 141 of the instrument shaft 36 engages with the
tapered cavity 314 in the end wall 312 of the grip portion 292, as
shown in FIG. 40. In FIG. 41 the linear motion of the manually
operated instrument 12 is illustrated by the proximal arrow 145 and
the corresponding distal arrow 147. Also rotation or pivoting of
the instrument handle indicated by the arrow 151 (R10) in FIG. 41
causes a corresponding rotation or pivoting of the end effector 38
as illustrated by the arrow 157. In FIG. 41, arrow 151 indicates a
bending at the proximal bendable member 20 and arrow 153 indicates
a corresponding bending at the distal bendable member 22. Arrow R10
indicates rotation of the handle alone while arrow R21 shows the
corresponding rotation at the tool 38. Rotation of the knob 294
(arrow R20) also causes rotation of the tool.
Having now described one embodiment of the present invention, it
should now be apparent to those skilled in the art that numerous
other embodiments and modifications thereof are contemplated as
falling within the scope of the present invention as defined by the
appended claims. For example, the guide member that is described
herein, in particular in FIGS. 26-42, where there is the locking
feature, can also be applied to the earlier version of FIG. 24
where the guide member can receive multiple manual instruments. Any
one of the different embodiments of FIGS. 26-42 can be applied to
the multiple channel guide tube of FIG. 24. Depending on whether
the manual instrument is locked with the guide or not different
control aspects can be provided. For example, a control at the
guide member of that rotation knob can control rotation of the
distal end of the guide, while rotation of the individual
instrument rotation knobs provides individual rotational control of
the respective tools.
* * * * *